On the control of robot manipulator: A model-free approach

摘要

The works presented in this paper deal with the control of a highly nonlinear and uncertain system using the new setting of "Model-Free Control" and its related intelligent Proportional, Integral and Derivative (iPID) regulators. Such approach that can be designed, using only the input and output data of the controlled device and the new algebraic method of identification, is applied to the control of multi/input-multi/output (MIMO) robot manipulators. Numerical simulations conducted for the robot PUMA 560 with 6 degrees of freedom (6-DOF) show the effectiveness of the method and the easiness of the tuning of the gains parameters of the used regulators. (C) 2019 Elsevier B.V. All rights reserved.